/*
 *_________________________________________________________________________*
 *      POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE     *
 *      DESCRIPTION: SEE READ-ME                                           *
 *      FILE NAME: sphericalFlexiblejoint.h                                        *
 *      AUTHORS: See Author List                                           * 
 *      GRANTS: See Grants List                                            *
 *      COPYRIGHT: (C) 2005 by Authors as listed in Author's List          *
 *      LICENSE: Please see License Agreement                              *
 *      DOWNLOAD: Free at www.rpi.edu/~anderk5                             *
 *      ADMINISTRATOR: Prof. Kurt Anderson                                 *
 *                     Computational Dynamics Lab                          *
 *                     Rensselaer Polytechnic Institute                    *
 *                     110 8th St. Troy NY 12180                           * 
 *      CONTACT:        anderk5@rpi.edu                                    *
 *_________________________________________________________________________*/

#ifndef SPHERICALFLEXIBLEJOINT_H
#define SPHERICALFLEXIBLEJOINT_H

#include "sphericaljoint.h"
#include "vect3.h"
#include "mat3x3.h"

class SphericalFlexiblejoint : public SphericalJoint  {
public:
  SphericalFlexiblejoint();
  ~SphericalFlexiblejoint();
  void ForwardKinematics();
  void BendingAndTwistingTorque(Mat3x3 temp1, Mat3x3 temp2, Vect3 &btorque,Vect3 &ttorque);
};

#endif
